US11897058B2 - Weld groove forming method and hollow article - Google Patents

Weld groove forming method and hollow article Download PDF

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Publication number
US11897058B2
US11897058B2 US17/869,066 US202217869066A US11897058B2 US 11897058 B2 US11897058 B2 US 11897058B2 US 202217869066 A US202217869066 A US 202217869066A US 11897058 B2 US11897058 B2 US 11897058B2
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Prior art keywords
pipe
side end
thickness
point
wall
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US20230241724A1 (en
Inventor
Sung Gi Kang
Young Nam Ahn
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Samsung E&a Co Ltd
HD Hyundai Robotics Co Ltd
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Samsung Engineering Co Ltd
Hyundai Robotics Co Ltd
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Assigned to SAMSUNG ENGINEERING CO., LTD., HYUNDAI ROBOTICS CO., LTD. reassignment SAMSUNG ENGINEERING CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: AHN, YOUNG NAM, KANG, SUNG GI
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Assigned to SAMSUNG E&A CO., LTD. reassignment SAMSUNG E&A CO., LTD. CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: SAMSUNG ENGINEERING CO., LTD
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K33/00—Specially-profiled edge portions of workpieces for making soldering or welding connections; Filling the seams formed thereby
    • B23K33/004—Filling of continuous seams
    • B23K33/006—Filling of continuous seams for cylindrical workpieces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B5/00—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor
    • B23B5/16—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor for bevelling, chamfering, or deburring the ends of bars or tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B1/00—Methods for turning or working essentially requiring the use of turning-machines; Use of auxiliary equipment in connection with such methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B5/00—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor
    • B23B5/16—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor for bevelling, chamfering, or deburring the ends of bars or tubes
    • B23B5/167—Tools for chamfering the ends of bars or tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C3/00—Milling particular work; Special milling operations; Machines therefor
    • B23C3/12—Trimming or finishing edges, e.g. deburring welded corners
    • B23C3/126—Portable devices or machines for chamfering edges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0055—Cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B2220/00—Details of turning, boring or drilling processes
    • B23B2220/04—Chamferring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B2260/00—Details of constructional elements
    • B23B2260/128—Sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23C—MILLING
    • B23C2220/00—Details of milling processes
    • B23C2220/16—Chamferring

Definitions

  • the present disclosure relates to a weld groove forming method and a hollow article. More specifically, the present disclosure relates to a weld groove forming method capable of providing a weld groove for which an automated welding can be performed and a hollow article having the weld groove.
  • Oil & gas plants, industrial plants, buildings, etc., include complex pipe facilities.
  • a plurality of pipe spools which will constitute a pipe facility are prefabricated in a pipe spool fabrication shop. Then, a plurality of prefabricated pipe spools is moved to a site such as an oil & gas plant, an industrial plant, a building, etc., and the plurality of pipe spools is connected to each other in the site.
  • a plurality of pipe spools connected to each other is installed in a steel frame or civil structure that constitute an oil & gas plant, an industrial plant, a building, etc., by using a support and the like, and the plurality of pipe spools connected to each other is finally connected to a stationary equipment such as a column, vessel, tank, or a heat exchanger, or to a rotating machinery such as a compressor, or a pump, and the entire pipe facility is constructed in an oil & gas plant, industrial plant, building, etc.
  • a stationary equipment such as a column, vessel, tank, or a heat exchanger
  • a rotating machinery such as a compressor, or a pump
  • each of the pipe spools that constitute an oil & gas plant, industrial plant, building, etc. has a different form and size.
  • pipe spools are a typical small quantity batch product, and automation of manufacture has been difficult.
  • an automated device could only be applied in some manufacturing processes that produce pipe spools of a simple shape, and pipe spools of a complicated shape were manufactured by manually cutting, processing, and moving members such as pipes, and by manually welding pipes and fitting members in each workshop.
  • welding is needed in order to connect a pipe to another piper or a pipe to a hollow connection member such as a fitting member, and because welding operation has been done manually or semi-automatically, not only a lot of time and manpower have been required in a welding operation, but also there have been issues of welding defects.
  • An embodiment of the present disclosure provides a weld groove forming method capable of providing a weld groove for which an automatic welding can be performed.
  • Another embodiment of the present disclosure provides a hollow article including a weld groove for which an automatic welding can be performed.
  • a weld groove forming method including:
  • the step (S 110 ) may include: (S 110 - 1 ) scanning the side end of the pipe to obtain an measured image in a form of an annular ring by using the sensor robot; (S 110 - 2 ) overlapping the measured image with a predetermined virtual image in a form of an annular ring and also in a form of a true circle and determining whether the thickness portion of the virtual image is completely included in the thickness portion of the measured image, and also the ratio of the thickness of the virtual image to the average thickness of the measured image satisfies a reference value by using the sensor robot; and (S 110 - 3 ) determining that the side end of the pipe may be processed into a form of a true circle by using the sensor robot, when the thickness portion of the virtual image is completely included in the thickness portion of the measured image, and also the ratio of the thickness of the virtual image to the average thickness of the measured image satisfies the reference value in the step (S 110 - 2 ).
  • the reference value may be 87.5% to 95%.
  • the step (S 120 ) may be performed by cutting the inner wall, side end and outer wall of the pipe.
  • the step (S 120 ) may include: (S 120 - 1 ) slantly cutting the outer wall of the pipe from a first point relatively far from the side end of the pipe to a second point relatively close to the side end of the pipe, so that a thickness at the first point relatively far from the side end of the pipe is relatively thick, and a thickness at the second point relatively close to the side end of the pipe is relatively thin; (S 120 - 2 ) slantly cutting the outer wall of the pipe which went through the step (S 120 - 1 ) from the second point relatively close to the side end of the pipe to a third point relatively closer to the side end of the pipe, so that a thickness at the second point relatively close to the side end of the pipe is relatively thick, and a thickness at the third point relatively closer to the side end of the pipe is relatively thin; (S 120 - 3 ) slantly cutting the outer wall of the pipe which went through the step (S 120 - 2 ) from the third point relatively closer to the side end of the pipe to a fourth point
  • the step (S 120 - 1 ) may be a step of cutting the outer wall of the pipe so that a thickness decreases at a constant rate from the first point to the second point.
  • the step (S 120 - 2 ) may be a step of cutting the outer wall of the pipe so that a thickness decreases at a constant rate from the second point to the third point.
  • the step (S 120 - 3 ) may be a step of cutting the outer wall of the pipe so that a thickness decreases according to a predetermined radius of curvature from the third point to the fourth point.
  • the step (S 120 - 4 ) may be a step of cutting the outer wall of the pipe so that a horizontal distance from the fourth point to the side end of the pipe is about 2 mm to 3 mm.
  • the step (S 120 - 5 ) may be a step of cutting the outer wall of the pipe so that a thickness between the inner wall and the outer wall of the pipe is about 1 mm to 2 mm.
  • the step (S 120 - 7 ) may be a step of cutting the outer wall of the pipe so that a thickness increases at a constant rate from the fifth point to the sixth point.
  • the first point may be positioned relatively far from the side end of the pipe than the sixth point, and the second point may be positioned relatively closer to the side end of the pipe than the fifth point.
  • the steps (S 120 - 1 ) to (S 120 - 7 ) may be configured to cut the outer wall of the pipe so that a thickness between the inner wall and the outer wall of the pipe at the second point may be 87.5% to 95% with respect to 100% of the thickness between the inner wall and the outer wall of the pipe at the first point.
  • the weld groove forming method may further include scanning the weld groove formed in the step (S 120 ) to determine circularity by using the sensor robot.
  • the weld groove forming method may further include: (S 210 ) determining whether a side end of a hollow connection member may be processed into a form of a true circle by using a sensor robot; and (S 220 ) forming a weld groove in a form of a true circle at the side end of the hollow connection member by using an automatic beveling machine, when the sensor robot determines that the side end of the hollow connection member may be processed into a form of a true circle in the step (S 210 ).
  • the step (S 110 ), the step (S 120 ), the step (S 210 ), and the step (S 220 ) may be performed automatically.
  • the 1 - 1 curved surface may be formed so that a thickness decreases at a constant rate from the first point to the second point.
  • the 1 - 2 curved surface may be formed so that a thickness decreases at a constant rate from the second point to the third point.
  • the 1 - 3 curved surface may be formed so that a thickness decreases according to a predetermined radius of curvature from the third point to the fourth point.
  • a length of the 1 - 4 curved surface may be 2 mm to 3 mm.
  • a thickness of a vertical surface formed at the side end of the hollow article may be 1 mm to 2 mm.
  • the 2 - 2 curved surface may be formed so that a thickness increases at a constant rate from the fifth point to the sixth point.
  • the first point may be positioned relatively far from the side end of the hollow article than the sixth point, and the second point may be relatively closer to the side end of the hollow article than the fifth point.
  • a thickness between the inner wall and the outer wall of the hollow article at the second point may be 87.5% to 95% with respect to 100% of the thickness between the inner wall and the outer wall of the hollow article at the first point.
  • a weld groove forming method and a hollow article according to an embodiment of the present disclosure provides a weld groove for which an automated welding can be performed so that welding time and manpower requirements are reduced, and welding defects are prevented.
  • FIG. 1 is a diagram schematically illustrating a method of forming a weld groove in a form of a true circle by using a sensor robot and an automatic beveling machine according to a weld groove forming method according to an embodiment of the present disclosure.
  • FIG. 2 is a diagram for explaining a method of determining whether a side end of a pipe may be processed into a form of a true circle by using a sensor robot according to a weld groove forming method according to an embodiment of the present disclosure.
  • FIG. 3 is a diagram for explaining a method of forming a weld groove in a form of a true circle on a pipe according to a weld groove forming method according to an embodiment of the present disclosure.
  • FIG. 4 is a diagram illustrating a weld groove in a form of a true circle formed at a side end of a pipe according to a weld groove forming method according to an embodiment of the present disclosure.
  • FIG. 5 is a diagram illustrating a weld groove in a form of a true circle formed at a hollow connection member manufactured according to a weld groove forming method according to an embodiment of the present disclosure.
  • FIG. 6 is a diagram explaining a method of forming a weld groove in a pipe and a hollow connecting member according to a method of forming a welding groove according to an embodiment of the present invention, respectively, and welding the formed true circular weld grooves to each other.
  • welding groove refers to a processed portion formed between base materials (i.e., pipes and hollow connection members) for an efficient welding.
  • base materials i.e., pipes and hollow connection members
  • welding groove is a concept collectively referring to all cut surfaces formed at an inner wall, side end, and outer wall of one end or both ends of each base material.
  • the term “hollow article” refers to an article having a penetration hole extending from one end to the other end.
  • side end of a hollow article refers to an end portion on an entrance side or an exit side of a penetration hole among end portions of a hollow article.
  • the term “sensor robot (vision sensor)” refers to a device having a function of scanning a side end of the hollow article in 2D or 3D, a function of storing the scanned image of the hollow article as a measured image, a function of forming a virtual image in a form of an annular ring, a function of overlapping the virtual image with the measured image and figuring out whether the thickness portion of the virtual image is completely included in the thickness portion of the measured image, and also the ratio of the thickness of the virtual image to the average thickness of the measured image satisfies a reference value, a function of determining that the side end of the hollow article may be processed into a form of a true circle when the thickness portion of the virtual image is completely included in the thickness portion of the measured image, and also the ratio of the thickness of the virtual image to the average thickness of the measured image satisfies a reference value, a function of determining the side end of the hollow article may not be processed into a form of a true circle when the thickness portion of
  • automated beveling machine refers to a device forming a weld groove by beveling a portion including a side end of a hollow article in conjunction with a sensor robot.
  • central axis of a hollow article means a line extending in a direction parallel to the direction in which the penetration hole extends and also passing through the center of the penetration hole.
  • point of a pipe, a hollow connection member, or a hollow article refers to an arbitrary point present on an arbitrary vertical line perpendicular to the central axis of a pipe, a hollow connection member or a hollow article.
  • the term “distance between the any two points of a pipe, a hollow connection member, or a hollow article” refers to a distance between vertical lines orthogonal to the central axis of each member passing through each point.
  • root welding refers to the first welding performed on a weld groove without a tack welding.
  • filling and cap welding refers to the finishing welding performed on a weld groove after a root welding.
  • FIG. 1 is a diagram schematically illustrating a method of forming a weld groove in a form of a true circle on a pipe (PP) by using a sensor robot (SRB) and an automatic beveling machine (ABM) according to a weld groove forming method according to an embodiment of the present disclosure
  • FIG. 2 is a diagram for explaining a method of determining whether a side end of a pipe (PP) may be processed into a form of a true circle by using a sensor robot (SRB) according to a weld groove forming method according to an embodiment of the present disclosure.
  • a method of forming a weld groove includes determining (S 110 ) whether the side end of the pipe (PP) may be processed into a form of a true circle by using a sensor robot (SRB).
  • the step (S 110 ) may include: (S 110 - 1 ) scanning the side end of the pipe (PP) to obtain an measured image in a form of an annular ring by using the sensor robot (SRB); (S 110 - 2 ) overlapping the measured image with a predetermined virtual image in a form of an annular ring and also in a form of a true circle and determining whether the thickness portion of the virtual image is completely included in the thickness portion of the measured image, and also the ratio of the thickness of the virtual image to the average thickness of the measured image satisfies a reference value by using the sensor robot (SRB); and (S 110 - 3 ) determining that the side end of the pipe (PP) may be processed into a form of a true circle by using the sensor robot (SRB), when the thickness portion of the virtual image is completely included in the thickness portion of the measured image, and also the ratio of the thickness of the virtual image to the average thickness of the measured image satisfies the reference value in the step (S 110 - 2 ).
  • a reference value of the ratio of a thickness of the virtual image to an average thickness of the measured image may be 87.5% to 95%.
  • thickness means a distance between the inner wall and the outer wall of a virtual image in a form of an annular ring or a measured image in a form of an annular ring.
  • the weld groove forming method includes forming a weld groove in a form of a true circle at a side end of a pipe (PP) by using an automatic beveling machine (ABM), when the sensor robot (SRB) determines that the side end of pipe (PP) may be processed into a form of a true circle in the step (S 110 ).
  • ABSM automatic beveling machine
  • a sensor robot determines that a side end of a pipe (PP) may be processed into a form of a true circle
  • the sensor robot (SRB) may transmit an beveling initiation signal to an automatic beveling machine (ABM) through a control unit (not shown) or directly.
  • an automatic beveling machine may form a weld groove in a form of a true circle according to a predetermined sequence at a precise location of a side end of a pipe (PP).
  • FIG. 3 is a diagram for explaining a method of forming a weld groove in a form of a true circle on a pipe (PP) according to a weld groove forming method according to an embodiment of the present disclosure.
  • the step (S 120 ) may be performed by cutting an inner wall, a side end, and an outer wall of a pipe (PP) by using an automatic beveling machine (ABM).
  • ABSM automatic beveling machine
  • the step (S 120 ) may include: (S 120 - 1 ) slantly cutting the outer wall of the pipe (PP) from a first point (P 1 ) relatively far from the side end of the pipe (PP) to a second point (P 2 ) relatively close to the side end of the pipe (PP), so that a thickness at the first point (P 1 ) relatively far from the side end of the pipe (PP) is relatively thick, and a thickness at the second point (P 2 ) relatively close to the side end of the pipe (PP) is relatively thin.
  • an additional outer face (AOF) may be formed.
  • This additional outer face (AOF) minimizes the outer off-set of a pipe (PP) and a connection member (CM) welded thereto, so that welding beads formed between the two members may be homogeneously and smoothly connected.
  • Thickness means a distance between an inner wall and an outer wall of a pipe (PP).
  • the step (S 120 - 1 ) may be a step of cutting the outer wall of the pipe (PP) so that a thickness decreases at a constant rate from the first point (P 1 ) to the second point (P 2 ).
  • the step (S 120 ) may further include (S 120 - 2 ) slantly cutting the outer wall of the pipe (PP) which went through the step (S 120 - 1 ) from the second point (P 2 ) relatively close to the side end of the pipe (PP) to a third point (P 3 ) relatively closer to the side end of the pipe (PP), so that a thickness at the second point (P 2 ) relatively close to the side end of the pipe (PP) is relatively thick, and a thickness at the third point (P 3 ) relatively closer to the side end of the pipe (PP) is relatively thin.
  • a first weld face (WF 1 ) may be formed.
  • the step (S 120 - 2 ) may be a step of cutting the outer wall of the pipe (PP) so that a thickness decreases at a constant rate from the second point (P 2 ) to the third point (P 3 ).
  • a slope ( 8 ) of the first weld surface (WF 1 ) may be 20° based on a vertical line extended vertically from the root surface (RF), which will be described later, but the present disclosure is not limited thereto.
  • the step (S 120 ) may further include (S 120 - 3 ) slantly cutting the outer wall of the pipe (PP) which went through the step (S 120 - 2 ) from the third point (P 3 ) relatively closer to the side end of the pipe (PP) to a fourth point (P 4 ) relatively even more closer to the side end of the pipe (PP), so that a thickness at the third point (P 3 ) relatively closer to the side end of the pipe (PP) is relatively thick, and a thickness at the fourth point (P 4 ) relatively even more closer to the side end of the pipe (PP) is relatively thin.
  • a second weld face (WF 2 ) may be formed.
  • the step (S 120 - 3 ) may be a step of cutting the outer wall of the pipe (PP) so that a thickness decrease according to a predetermined radius of curvature (R) from the third point (P 3 ) to the fourth point (P 4 ).
  • R radius of curvature
  • the weld groove forming method includes the step (S 120 - 3 ), not only the processing of a weld groove (WG) may become easier but also quality of the welding may be improved.
  • the step (S 120 ) may further include (S 120 - 4 ) cutting the outer wall of the pipe (PP) which went through the step (S 120 - 3 ) from the fourth point (P 4 ) relatively even more closer to the side end of the pipe (PP) to the side end of the pipe (PP), so that a thickness is constant from the fourth point (P 4 ) relatively even more closer to the side end of the pipe (PP) to the side end of the pipe (PP).
  • a third weld face (WF 3 ) may be formed.
  • the step (S 120 - 4 ) may be a step of cutting the outer wall of the pipe (PP) so that a horizontal distance (d) from the fourth point (P 4 ) to the side end of the pipe (PP) is about 2 mm to 3 mm.
  • horizontal distance (d) refers to a distance between the vertical line extended from a side end of a pipe (PP) and an arbitrary vertical line positioned on the opposite side (i.e., the side of the fourth point (P 4 )).
  • the horizontal distance (d) is within the range, when an automatic root welding is performed, the root face (RF) melts well so that a back bead is well-formed, and when a filling and cap welding is performed, a burn through may be prevented at a third weld face (WF 3 ), which will be described later. This will be described later with reference to FIG. 6 .
  • the step (S 120 ) may further include (S 120 - 5 ) vertically cutting the side end of the pipe which went through the step (S 120 - 4 ) by a predetermined thickness. As a result, a root face (RF) may be formed.
  • the step (S 120 - 5 ) may be a step of cutting the outer wall of the pipe (PP) so that a thickness (t 1 ) between the inner wall and the outer wall of the pipe (PP) is about 1 mm to 2 mm.
  • a thickness (t 1 ) between the inner wall and the outer wall of the pipe (PP) is about 1 mm to 2 mm.
  • the step (S 120 ) may further include (S 120 - 6 ) cutting the inner wall of the pipe (PP) which went through the step (S 120 - 5 ) from the side end of the pipe (PP) (this means the newly formed side end of the pipe (PP) after cutting the existing side end of the pipe (PP)) to a fifth point (P 5 ) separated from the side end of the pipe (PP), so that a thickness is constant from the side end of the pipe (PP) to the fifth point (P 5 ) separated from the side end of the pipe (PP).
  • an additional inner face (AIF 1 ) may be formed.
  • the step (S 120 ) may further include (S 120 - 7 ) slantly cutting the inner wall of the pipe (PP) which went through the step (S 120 - 6 ) from the fifth point (P 5 ) separated from the side end of the pipe (PP) to a sixth point (P 6 ) relatively far from the side end of the pipe (PP), so that a thickness at the fifth point (P 5 ) separated from the side end of the pipe (PP) is relatively thin, and a thickness at the sixth point (P 6 ) relatively far from the side end of the pipe (PP) is relatively thick.
  • an additional inner face (AIF 2 ) may be formed.
  • the step (S 120 - 7 ) may be a step of cutting the outer wall of the pipe (PP) so that a thickness increases at a constant rate from the fifth point (P 5 ) to the sixth point (P 6 ).
  • the additional inner face (AIF 1 ) formed in the step (S 120 - 6 ) and the additional inner face (AIF 2 ) formed in the step (S 120 - 7 ) reduces fluid resistance so that a fluid may flow smoothly when a fluid flows through the pipe (PP), and prevents in advance pipe damages such as cracks that occur when fluid pressure is locally concentrated.
  • first point (P 1 ) may be positioned relatively far from the side end of the pipe (PP) than the sixth point, and the second point (P 2 ) may be positioned relatively closer to the side end of the pipe (PP) than the fifth point (P 5 ).
  • the steps (S 120 - 1 ) to (S 120 - 7 ) may be configured to cut the outer wall of the pipe (PP) so that a thickness (t 2 ) between the inner wall and the outer wall of the pipe (PP) at the second point (P 2 ) may be 87.5% to 95% with respect to 100% of the thickness (t 0 ) between the inner wall and the outer wall of the pipe (PP) at the first point (P 1 )
  • the thickness (t 2 ) is within the range, an excellent welding joint strength may be secured.
  • the steps (S 120 - 1 ) to (S 120 - 7 ) may be performed in the above-described order or may be performed in the reverse order.
  • the weld groove forming method may further include (S 130 ) scanning the weld groove formed in the step (S 120 ) to determine circularity by using the sensor robot (SRB).
  • the step (S 103 ) may further include (S 130 - 1 ) scanning the weld groove formed in the step (S 120 ) to get a measured image in a form of an annular ring by using the sensor robot (SRB), (S 130 - 2 ) figuring out whether there is a virtual image in a form of a true circle that completely overlaps the measured image by using the sensor robot (SRB), and (S 130 - 3 ) determining that the weld groove was processed into a form of a true circle by using the sensor robot (SRB) when there is a virtual image in a form of a true circle that completely overlaps the measured image in the step (S 103 - 2 ).
  • FIG. 4 is a diagram illustrating a weld groove in a form of a true circle formed at a side end of a pipe (PP) according to a weld groove forming method according to an embodiment of the present disclosure.
  • the weld groove formed by cutting the inner wall, the side end, and the outer wall at the side end of the pipe (PP) and the adjacent portion thereof is formed in a true circle shape along the circumference of the pipe (PP).
  • the weld groove forming method may further include: (S 210 ) determining whether a side end of a hollow connection member (CM) may be processed into a form of a true circle by using a sensor robot (SRB); and (S 220 ) forming a weld groove in a form of a true circle at the side end of the hollow connection member (CM) by using an automatic beveling machine (ABM), when the sensor robot (SRB) determines that the side end of the hollow connection member (CM) may be processed into a form of a true circle in the step (S 210 ).
  • ABSM automatic beveling machine
  • the weld groove forming method may further include (S 230 ) scanning the weld groove formed in the step (S 220 ) to determine circularity by using the sensor robot (SRB).
  • the step (S 210 ), the step (S 220 ), and the step (S 230 ), may be the same with the step (S 110 ), the step (S 120 ), and the step (S 130 ), respectively, except that a processing target is changed from a pipe (PP) to a hollow connection member (CM). Therefore, a detailed description of the step (S 210 ), the step (S 220 ), and the step (S 230 ) will be omitted herein.
  • FIG. 5 is a diagram illustrating a weld groove in a form of a true circle formed at a hollow connection member (CM) manufactured according to a weld groove forming method according to an embodiment of the present disclosure.
  • CM hollow connection member
  • the weld groove formed by cutting the inner wall, the side end, and the outer wall at the side end of the hollow connection member (CM) and the adjacent portion thereof is formed in a true circle shape along the circumference of the hollow connection member (CM).
  • FIG. 6 is a diagram explaining a method of forming a weld groove in a pipe (PP) and a hollow connecting member (CM) according to a method of forming a welding groove according to an embodiment of the present invention, respectively, and welding the formed true circular weld grooves to each other.
  • a root face (RF) of a weld groove of a pipe (PP) formed through the step (S 110 ) and the step (S 120 ) and a root face (RF) of a weld groove of a hollow connection member (CM) formed through the step (S 210 ) and the step (S 220 ) may be aligned with each other, and an automatic root welding (gas tungsten welding; GTW) and automatic filling and cap welding (gas metal welding; GMW) may be performed sequentially on the weld faces (WF 1 , WF 2 , and WF 3 ) of two members.
  • GTW gas tungsten welding
  • GMW gas metal welding
  • the automatic root welding may be relatively small quantity welding, and the automatic filling and cap welding may be relatively large quantity welding.
  • a thickness (t 1 ) shown in FIG. 6 is 1 mm to 2 mm
  • the root faces (RF) of the two members may be adequately melted, and a back bead may be well-formed without a burn through.
  • a thickness (t 1 ) is less than 1 mm
  • the root faces (RF) of the two members may be excessively melted, and a gap (or a burn through) may be formed between the root faces (RF) of two members.
  • a thickness (t 1 ) exceeds 2 mm, when an automatic root welding is performed, the root faces (RF) of the two members may not be sufficiently melted, so that a back bead, which is formed only when melt of a welding material fully penetrates between root faces (RF) of two members, may not be formed.
  • a horizontal distance (d) shown in FIG. 6 is 2 mm to 3 mm
  • the root faces (RF) of the two members may be adequately melted, and a back bead may be well-formed.
  • a horizontal distance (d) is less than 2 mm
  • the root faces (RF) of the two members may not be sufficiently melted, and a back bead, which is formed only when melt of a welding material fully penetrates between root faces (RF) of two members, may not be formed.
  • a horizontal distance (d) exceeds 3 mm
  • a portion of the third weld faces (WF 3 ) of the two members i.e., the portion not welded when an automatic root welding is performed
  • WF 3 the third weld faces
  • the step (S 110 ), the step (S 120 ), the step (S 130 ), the step (S 210 ), the step (S 220 ), the automatic root welding, and the automatic filling and cap welding may be automatically performed without an intervention of a manual operation due to individual actions and interactions of a sensor robot (SRB), an automatic beveling machine (ABM), an automatic root welder (not shown) and an automatic filling and cap welder (not shown).
  • SRB sensor robot
  • ABSM automatic beveling machine
  • an automatic root welder not shown
  • an automatic filling and cap welder not shown
  • a hollow article according to an embodiment of the present disclosure may have a weld groove in a form of a true circle.
  • the weld groove may include a 1 - 1 curved surface, 1 - 2 curved surface, 1 - 3 curved surface and 1 - 4 curved surface formed on the outer wall of the hollow article in this order.
  • the 1 - 1 curved surface may be slantly formed so that a thickness at a first point (P 1 ) relatively far from a side end of the hollow article is relatively thick, and a thickness at a second point (P 2 ) relatively close to the side end of the hollow article is relatively thin (this corresponds to AOF of FIG. 3 ).
  • the 1 - 1 curved surface may be formed so that a thickness decreases at a constant rate from the first point (P 1 ) to the second point (P 2 ).
  • the 1 - 2 curved surface may be slantly formed so that a thickness at the second point (P 2 ) relatively close to the side end of the hollow article is relatively thick, and a thickness at a third point (P 3 ) relatively closer to the side end of the hollow article is relatively thin (this corresponds to WF 1 of FIG. 3 ).
  • the 1 - 2 curved surface may be formed so that a thickness decreases at a constant rate from the second point (P 2 ) to the third point (P 3 ).
  • a slope ( 8 ) of the 1 - 2 curved surface may be 20° based on a vertical line which is vertically extended from the vertical surface, but the present disclosure is not limited thereto.
  • the 1 - 3 curved surface may be slantly formed so that a thickness at the third point (P 3 ) relatively closer to the side end of the hollow article is relatively thick, and a thickness at a fourth point (P 4 ) relatively even more closer to the side end of the hollow article is relatively thin (this corresponds to WF 2 of FIG. 3 ).
  • the 1 - 3 curved surface may be formed so that a thickness decreases according to a predetermined radius of curvature (R) from the third point (P 3 ) to the fourth point (P 4 ).
  • the radius of curvature (R) may be 5 mm, but the present disclosure is not limited thereto.
  • the weld groove includes the 1 - 3 curved surface, not only the processing of the weld groove may become easier, but also quality of the welding may improve.
  • the 1 - 4 curved surface may be formed so that a thickness from the fourth point (P 4 ) relatively even more closer to the side end of the hollow article to the side end of the hollow article is constant (this corresponds to WF 3 of FIG. 3 ).
  • a length of the 1 - 4 curved surface may be 2 mm to 3 mm (this corresponds to the horizontal distance (d) of FIG. 3 ).
  • a length of the 1 - 4 curved surface is 2 mm to 3 mm, when an automatic root welding is performed, the vertical surface is adequately melted, so that a back bead may be well-formed.
  • a length of the 1 - 4 curved surface is less than 2 mm, when an automatic root welding is performed, the vertical surface is not sufficiently melted, so that a back bead, which is formed only when melt of a welding material fully penetrates between the vertical surface and a corresponding vertical surface of another member welded thereto, may not be formed.
  • a length of the 1 - 4 curved surface exceeds 3 mm, when an automatic filling and cap welding is performed, a portion of the 1 - 4 curved surface (i.e., the portion not welded when an automatic root welding is performed) may be excessively melted, and a hole may form at the 1 - 4 curved surface.
  • a side end of the hollow article may include a vertical surface.
  • the vertical surface may be formed between the inner wall and the outer wall of the hollow article (this corresponds to RF in FIG. 3 ).
  • a thickness (this corresponds to t 1 in FIG. 3 ) of the vertical surface formed at a side end of the hollow article may be 1 mm to 2 mm.
  • a thickness of vertical surface is 1 mm to 2 mm, when an automatic root welding is performed, the vertical surface is adequately melted, and thus a back bead may be well-formed.
  • a thickness of the vertical surface is less than 1 mm, when an automatic root welding is performed, the vertical surface may excessively melt so that a gap may form between the vertical surface and a corresponding vertical surface of another member welded thereto.
  • a thickness of the vertical surface exceeds 2 mm, when an automatic root welding is performed, the vertical surface is not sufficiently melted, so that a back bead, which is formed only when melt of a welding material fully penetrates between the vertical surface and a corresponding vertical surface of another member welded thereto, may not be formed.
  • the weld groove may include a 2 - 1 curved surface and a 2 - 2 curved surface formed on the inner wall of the hollow article.
  • the 2 - 1 curved surface may be formed so that a thickness is constant from the side end of the hollow article to a fifth point (P 5 ) separated from the side end of the hollow article (this corresponds to AIF 1 in FIG. 3 ).
  • the 2 - 2 curved surface may be slantly formed so that a fifth point (P 5 ) separated from the side end of the hollow article is relatively thin, and a thickness at a sixth point (P 6 ) relatively far from the side end of the hollow article is relatively thick (this corresponds to AIF 2 of FIG. 3 ).
  • the 2 - 2 curved surface may be formed so that a thickness increases at a constant rate from the fifth point (P 5 ) to the sixth point (P 6 ).
  • the first point (P 1 ) may be positioned relatively far from the side end of the hollow article than the sixth point (P 6 ), and the second point (P 2 ) may be relatively closer to the side end of the hollow article than the fifth point (P 5 ).
  • a thickness between the inner wall and the outer wall of the hollow article at the second point (P 2 ) (this corresponding to t 2 in FIG. 3 ) may be 87.5% to 95% with respect to 100% of the thickness between the inner wall and the outer wall of the hollow article at the first point (P 1 ).
  • a thickness (t 2 ) is within the range, an excellent welding joint strength may be secured.
  • the hollow article may be manufactured according to a weld groove forming method according to an embodiment of the present disclosure described in detail above.
  • the hollow article may be a pipe or a hollow connection member.
  • the hollow connection member may include a fitting member such as an elbow, a reducer, or a tee, or a flange member.
  • the method of forming a weld groove according to an embodiment of the present disclosure having the configuration as described above may provide a true circular weld groove having a special structure on which automatic welding may be performed.
  • the present inventors developed a weld groove forming method which allows an automatic welding of a hollow article, and a hollow article which is manufactured according to the method and has a true circular weld groove of a special structure after striving hard to reduce welding costs by shortening welding time and reducing manpower required for welding, and to improve welding quality.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Milling Processes (AREA)
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